A method for ascertaining an autonomous emergency braking operation of an ego-vehicle. The method includes picking up driving dynamics variables of the ego-vehicle, picking up distance measurement signals, and ascertaining at least one longitudinal distance of the ego-vehicle from a forward object. The method further includes determining whether an emergency braking operation is to be initiated on the basis of the driving dynamics variables and the distance measurement signals. If a decision is made to initiate an emergency braking operation, the method additionally includes ascertaining a first starting point for initiating a warning phase by outputting a warning signal without initiating a braking operation, a second starting point for initiating a subsequent partial braking phase with a lower partial-braking braking pressure, and a third starting point for initiating a subsequent emergency braking phase to initiate an emergency braking phase with a higher emergency-braking braking pressure.
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1. A method for ascertaining an autonomous emergency braking operation of an ego-vehicle, the method comprising: picking up driving dynamics variables of the ego-vehicle; picking up distance measurement signals; ascertaining at least one longitudinal distance of the ego-vehicle from a forward object; deciding to initiate an emergency braking operation based on the driving dynamics variables, the distance measurement signals, and the at least one longitudinal distance of the ego-vehicle from the forward object, and ascertaining: a first starting point for initiating a warning phase by outputting a warning signal without initiating a braking operation, a second starting point for initiating a subsequent partial braking phase with a first partial-braking braking pressure, and a third starting point for initiating a subsequent emergency braking phase with a second emergency-braking braking pressure, wherein ascertaining the starting points involves the use of: a period criterion having minimum durations of the warning phase and/or of the partial braking phase, and a dynamic criterion describing positions and/or velocities of the ego-vehicle and of the forward object in the warning phase, the subsequent partial braking phase, and the subsequent emergency braking phase, wherein motion equations of the ego-vehicle and of the forward object with at least a second order of time are used in the dynamic criterion, and wherein at least one of an emergency braking acceleration in the emergency braking phase and a partial braking acceleration in the partial braking phase are used in the dynamic criterion to heed a braking effect in the partial braking phase, and outputting the warning signal without initiating the braking operation at the first starting point, initiating the subsequent partial braking phase with the first partial-braking braking pressure at the second starting point, and initiating the subsequent emergency braking phase with the second emergency-braking braking pressure at the third starting point.
2. The method as claimed in claim 1 , wherein the ascertained starting points are starting times of the warning phase, the subsequent partial braking phase, and the subsequent emergency braking phase, and the minimum durations used are minimum periods.
This invention relates to a method for determining braking parameters in a vehicle braking system, particularly for emergency braking scenarios. The method addresses the challenge of optimizing braking performance by dynamically adjusting braking phases based on real-time conditions. The system identifies key starting points for different braking phases, including a warning phase, a partial braking phase, and an emergency braking phase. Each phase has a minimum duration to ensure safety and effectiveness. The method calculates these starting points and minimum durations using sensor data, such as vehicle speed, distance to obstacles, and driver response time. By dynamically adjusting these parameters, the system improves braking efficiency and reduces the risk of collisions. The method also accounts for variations in road conditions, vehicle load, and environmental factors to enhance reliability. The invention ensures that braking actions are initiated at optimal times, minimizing stopping distance while maintaining passenger safety. This approach is particularly useful in autonomous and advanced driver-assistance systems, where precise braking control is critical. The method may also integrate with existing vehicle control systems to provide seamless operation. Overall, the invention provides a robust solution for optimizing emergency braking performance in modern vehicles.
3. The method as claimed in claim 1 , wherein deciding to initiate the emergency braking operation based on the driving dynamics variables, the distance measurement signals, and the at least one longitudinal distance of the ego-vehicle from the forward object involves the use of motion equations of the ego-vehicle and of the object or of difference values of the ego-vehicle and of the object with a second order of time.
This invention relates to advanced emergency braking systems for vehicles, specifically improving decision-making for collision avoidance by analyzing dynamic interactions between the ego-vehicle and surrounding objects. The system addresses the challenge of accurately determining when to initiate emergency braking by incorporating higher-order motion dynamics beyond basic speed and distance measurements. The method calculates longitudinal distances between the ego-vehicle and forward objects while continuously monitoring driving dynamics variables such as acceleration, deceleration, and relative motion. A key innovation involves using second-order time differentials of motion equations for both the ego-vehicle and the object, or computing difference values between their dynamic states. This allows the system to predict collision risks more precisely by accounting for changes in acceleration and deceleration rates, rather than relying solely on instantaneous speed and distance. The approach enhances braking decisions by incorporating these refined dynamic calculations, improving response times and reducing false activations. The system integrates these computations into the overall emergency braking logic to determine optimal intervention points, ensuring safer collision avoidance while maintaining vehicle stability.
4. The method as claimed in claim 1 , wherein the partial braking acceleration in the partial braking phase is used in the dynamic criterion.
A system and method for vehicle braking control dynamically adjusts braking force based on real-time conditions to improve safety and efficiency. The invention addresses the problem of conventional braking systems that apply fixed or pre-programmed braking forces, which may not account for varying road conditions, vehicle states, or driver intentions. The system monitors vehicle dynamics, such as speed, acceleration, and deceleration, and applies a partial braking phase before full braking to optimize stopping distance and stability. During this partial braking phase, a controlled deceleration is applied, which is then evaluated against a dynamic criterion to determine whether to transition to full braking. The dynamic criterion considers factors like road friction, vehicle load, and sensor data to ensure adaptive and responsive braking. This approach reduces the risk of skidding or loss of control while minimizing stopping distance. The system may also integrate with other vehicle systems, such as stability control or collision avoidance, to enhance overall safety. The invention is particularly useful for autonomous and advanced driver-assistance systems (ADAS) where precise braking control is critical.
5. The method as claimed in claim 1 , wherein the partial braking acceleration in the partial braking phase is used in the dynamic criterion only on the basis of a decision criterion that is decided in a decision step, and wherein a reliability of the production of the partial-braking braking pressure in the partial braking phase and of the emergency-braking braking pressure in the emergency braking phase, is rated in the decision step, and the reliability is compared with a reliability threshold value, and values above the reliability threshold value result in the partial braking acceleration being used for ascertaining the dynamic criterion, and values below the reliability threshold value result in the partial braking acceleration not being used.
This invention relates to a braking system for vehicles, specifically focusing on improving the reliability of dynamic criteria used in braking control. The system addresses the problem of ensuring accurate and dependable braking performance by dynamically assessing the reliability of braking pressure during partial and emergency braking phases. The method involves monitoring the braking acceleration during a partial braking phase and using this data to determine a dynamic criterion for braking control. However, the system does not always rely on this partial braking acceleration. Instead, it evaluates the reliability of the braking pressure in both the partial and emergency braking phases through a decision step. This decision step compares the reliability of the braking pressure against a predefined threshold. If the reliability meets or exceeds the threshold, the partial braking acceleration is used to calculate the dynamic criterion. If the reliability falls below the threshold, the partial braking acceleration is disregarded, ensuring that only reliable data influences the braking control. This approach enhances safety by preventing unreliable braking data from affecting the system's decisions, thereby improving the overall stability and effectiveness of the braking process. The system dynamically adjusts its reliance on partial braking acceleration based on real-time reliability assessments, ensuring optimal braking performance under varying conditions.
6. The method as claimed in claim 1 , wherein the following state variables or driving dynamics variables of the ego-vehicle are picked up: an ego-velocity, an ego-acceleration of the ego-vehicle, and, by direct measurement or from the timing response of the longitudinal distance ascertained from the distance measurement signals, a longitudinal velocity difference in relation to the forward object, a second velocity of the forward object and a longitudinal acceleration difference.
A system monitors and analyzes vehicle dynamics to enhance safety and control. The invention focuses on tracking state and driving dynamics variables of an autonomous or assisted-driving vehicle (ego-vehicle) to improve collision avoidance and adaptive cruise control. Key variables include the ego-vehicle's velocity and acceleration, as well as the relative dynamics between the ego-vehicle and a forward object (e.g., another vehicle). The system measures the longitudinal velocity difference between the ego-vehicle and the forward object, either directly or by analyzing the timing response of distance measurement signals. Additionally, it determines the forward object's velocity and the longitudinal acceleration difference between the two. These variables are used to assess collision risks, optimize braking or acceleration responses, and maintain safe following distances. The system may integrate sensor data from radar, lidar, or cameras to derive these measurements, ensuring real-time adjustments to driving behavior. This approach enhances situational awareness and reaction times, reducing the likelihood of accidents in dynamic traffic environments.
7. The method as claimed in claim 1 , wherein the dynamic criterion uses, as a longitudinal-dynamic partial criterion, the at least one longitudinal distance of the ego-vehicle from a forward object, a longitudinal acceleration on the basis of time, and, as a transverse-dynamic partial criterion, an evasion criterion by using a transverse response of the ego-vehicle.
This invention relates to vehicle dynamics control systems that assess both longitudinal and transverse vehicle behavior to determine safe driving conditions. The system evaluates dynamic criteria to detect potential hazards and trigger appropriate responses. Specifically, the method uses longitudinal distance measurements from the ego-vehicle to nearby forward objects, longitudinal acceleration over time, and transverse dynamics to assess evasive maneuvers. The longitudinal-dynamic partial criterion analyzes the vehicle's distance to obstacles and its acceleration profile to predict collision risks. The transverse-dynamic partial criterion evaluates the vehicle's lateral response, such as steering inputs or lane deviations, to determine if evasive actions are being taken. By combining these criteria, the system can dynamically adjust vehicle control parameters or issue warnings to the driver to prevent accidents. The invention improves upon existing systems by integrating both longitudinal and transverse dynamics into a unified hazard assessment framework, enhancing situational awareness and response accuracy. This approach is particularly useful in autonomous or advanced driver-assistance systems where real-time hazard detection is critical.
8. The method as claimed in claim 1 , wherein a definitely stipulated minimum duration of the warning phase and a minimum duration of the partial braking phase, which are minimum values that cannot have values below them are presumed for the period criterion.
This invention relates to a method for controlling a vehicle braking system, specifically addressing the need for precise timing and safety in braking operations. The method ensures that a vehicle's braking process adheres to predefined minimum durations for both a warning phase and a partial braking phase, which are critical for maintaining safety and preventing abrupt or insufficient braking responses. These minimum durations are absolute values that cannot be reduced below a specified threshold, ensuring consistent and reliable braking performance under various driving conditions. The method integrates these duration criteria into the overall braking control system, allowing for gradual and controlled deceleration while preventing unsafe or unpredictable braking behavior. By enforcing these minimum time constraints, the invention enhances driver and passenger safety, reduces the risk of collisions, and improves overall vehicle stability during braking maneuvers. The system dynamically monitors and adjusts braking parameters to meet these strict duration requirements, ensuring compliance with safety standards and regulatory guidelines. This approach is particularly useful in automated or semi-automated driving systems where precise braking control is essential for safe operation. The method may also include additional braking phases or adjustments based on real-time conditions, but the core focus remains on enforcing these minimum duration thresholds to maintain optimal braking performance.
9. A method for performing an autonomous emergency braking operation of an ego-vehicle, the method comprising: performing a method for ascertaining the autonomous emergency braking operation of the ego-vehicle as claimed in claim 1 , subsequently initiating the warning phase by outputting a warning signal to the driver on the basis of a present rating of the traffic situation, initiating the partial braking phase by producing a partial acceleration, a lower braking pressure or lesser braking effect, in order to produce a haptic braking-pressure report to the driver, on the basis of a present rating of the traffic situation, and initiating the emergency braking phase by producing an emergency braking acceleration with a superior braking effect or higher braking pressure on the basis of a present rating of the traffic situation, wherein the present rating of the traffic situation results in a present criticality of the traffic situation being ascertained and rated prior to initiation of each of the phases.
An autonomous emergency braking system for vehicles assesses traffic conditions to determine criticality and triggers a multi-phase braking sequence. The system first evaluates the current traffic situation to assess its criticality, then initiates a warning phase by alerting the driver. If the situation remains critical, a partial braking phase follows, applying mild deceleration or reduced braking pressure to provide haptic feedback to the driver. If the threat persists, the system transitions to an emergency braking phase, applying full braking force to avoid a collision. Each phase is triggered based on real-time assessment of traffic conditions, ensuring a graduated response to potential hazards. The system dynamically adjusts braking intensity to balance driver awareness and vehicle safety, reducing the risk of accidents by progressively escalating intervention. This approach enhances situational awareness while minimizing abrupt braking, improving overall safety in autonomous driving scenarios.
10. The method as claimed in claim 9 , wherein the present rating of the traffic situation takes place prior to the initiation of the next phase by virtue of the currently ascertained criticality being compared with a respective K threshold value.
This invention relates to traffic signal control systems that dynamically adjust signal timing based on real-time traffic conditions. The problem addressed is the inefficiency of fixed or pre-programmed traffic signal timings, which often fail to adapt to sudden changes in traffic flow, leading to congestion and delays. The system continuously monitors traffic conditions, such as vehicle density, speed, and queue lengths, to determine a criticality value representing the urgency of traffic flow at an intersection. This criticality value is compared against a predefined threshold (K) to assess whether the current traffic situation requires an immediate phase change. If the criticality exceeds the threshold, the system triggers an early or delayed phase transition to optimize traffic flow. The threshold (K) can be dynamically adjusted based on historical data, time of day, or other factors to improve responsiveness. The method ensures that traffic signals adapt in real-time to varying conditions, reducing unnecessary stops and improving overall traffic efficiency. By continuously evaluating criticality before initiating the next phase, the system avoids rigid timing schedules and enhances safety and throughput at intersections. The invention is particularly useful in urban areas with high traffic variability, where traditional signal timing may be insufficient.
11. The method as claimed in claim 9 , wherein the minimum duration, preferably minimum period, is still maintained even if a collision will take place when the at least one minimum duration is heeded.
This invention relates to collision avoidance systems for wireless communication networks, specifically addressing the challenge of maintaining minimum transmission durations even when potential collisions are detected. In wireless networks, devices must coordinate transmissions to avoid interference, but strict adherence to minimum duration requirements can sometimes lead to unavoidable collisions. The invention provides a solution where a minimum duration or period for a transmission is enforced regardless of collision detection. This ensures consistent performance and reliability in communication protocols, even when overlapping transmissions occur. The system dynamically assesses transmission conditions and applies predefined minimum durations to prevent disruptions caused by premature termination of signals. By maintaining these durations, the invention improves network stability and reduces errors in data transmission. The approach is particularly useful in dense wireless environments where collision risks are high, ensuring that critical transmission parameters are upheld to maintain communication integrity. The method involves monitoring transmission conditions, enforcing minimum durations, and proceeding with transmissions even if collisions are predicted, thereby balancing collision avoidance with reliable data delivery.
12. An ego-vehicle comprising a control device, wherein the control device is configured to: pick up a velocity-of-travel signal for an ego-velocity of travel of the ego-vehicle, pick up a distance measurement signal of at least one longitudinal distance of the ego-vehicle from a forward object, pick up driving dynamics variables of the ego-vehicle; decide to initiate an emergency braking operation based on the velocity of travel signal, driving dynamics variables, the distance measurement signals, and the at least one longitudinal distance of the ego-vehicle from the forward object, and ascertain: a first starting point for initiating a warning phase by outputting a warning signal without initiating a braking operation, a second starting point for initiating a subsequent partial braking phase with a first partial-braking braking pressure, and a third starting point for initiating a subsequent emergency braking phase with a second emergency-braking braking pressure, wherein ascertaining the starting points involves the use of: a period criterion having minimum durations of the warning phase and/or of the partial braking phase, and a dynamic criterion describing positions and/or velocities of the ego-vehicle and of the forward object in the warning phase, the subsequent partial braking phase, and the subsequent emergency braking phase, wherein motion equations of the ego-vehicle and of the forward object with at least a second order of time are used in the dynamic criterion, and wherein at least one of an emergency braking acceleration in the emergency braking phase and a partial braking acceleration in the partial braking phase are used in the dynamic criterion to heed a braking effect in the partial braking phase, and output braking signals to wheel brakes in order to initiate a braking process of the ego-vehicle and to output the warning signal to a warning indicator in order to warn a driver, wherein the braking process comprises: outputting the warning signal without initiating the braking operation at the first starting point, initiating the subsequent partial braking phase with the first partial-braking braking pressure at the second starting point, and initiating the subsequent emergency braking phase with the second emergency- braking braking pressure at the third starting point.
The invention relates to an autonomous or semi-autonomous vehicle control system designed to enhance safety by initiating a multi-phase emergency braking process. The system addresses the problem of ensuring timely and effective braking in critical situations by dynamically assessing vehicle dynamics and environmental conditions. The control device monitors the vehicle's speed, longitudinal distance to a forward object, and driving dynamics variables. Based on these inputs, it determines whether to trigger an emergency braking sequence. The braking process is divided into three phases: a warning phase, a partial braking phase, and a full emergency braking phase. The system calculates the optimal timing for each phase using a period criterion (minimum durations for warning and partial braking) and a dynamic criterion (motion equations of the vehicle and forward object, including second-order time dependencies). The dynamic criterion also accounts for braking accelerations in both partial and emergency braking phases to ensure the partial braking effect is properly considered. The control device outputs warning signals to alert the driver and braking signals to the wheel brakes, sequentially activating the warning phase, partial braking phase, and full emergency braking phase as determined by the calculated starting points. This approach aims to optimize braking response while maintaining driver awareness and control.
13. An ego-vehicle, the ego-vehicle comprising: wheel brakes for performing a braking process, a distance sensor for ascertaining the at least one longitudinal distance of the ego-vehicle from a forward object and outputting distance measurement signals to a control device, wherein the control device is configured to: pick up a velocity-of-travel signal for an ego-velocity of travel of the ego-vehicle, pick up the distance measurement signal of the at least one longitudinal distance of the ego-vehicle from the forward object, pick up driving dynamics variables of the ego-vehicle; decide to initiate an emergency braking operation based on the velocity of travel signal, driving dynamics variables, the distance measurement signals, and the at least one longitudinal distance of the ego-vehicle from the forward object, and ascertain: a first starting point for initiating a warning phase by outputting a warning signal without initiating a braking operation, a second starting point for initiating a subsequent partial braking phase with a first partial-braking braking pressure, and a third starting point for initiating a subsequent emergency braking phase with a second emergency-braking braking pressure, wherein ascertaining the starting points involves the use of: a period criterion having minimum durations of the warning phase and/or of the partial braking phase, and a dynamic criterion describing positions and/or velocities of the ego-vehicle and of the forward object in the warning phase, the subsequent partial braking phase, and the subsequent emergency braking phase, wherein motion equations of the ego-vehicle and of the forward object with at least a second order of time are used in the dynamic criterion, and wherein at least one of an emergency braking acceleration in the emergency braking phase and a partial braking acceleration in the partial braking phase are used in the dynamic criterion to heed a braking effect in the partial braking phase, and output braking signals to the wheel brakes in order to initiate an autonomous partial braking phase and an autonomous emergency braking phase of the ego-vehicle and to output the warning signal to a warning indicator in order to warn atho driver.
This invention relates to autonomous emergency braking systems for vehicles, addressing the need for improved collision avoidance by dynamically adjusting braking phases based on real-time sensor data. The system includes wheel brakes, a distance sensor to measure the longitudinal distance to a forward object, and a control device. The control device receives velocity, distance, and driving dynamics data to determine when to initiate an emergency braking sequence. The system calculates three key starting points: a warning phase (issuing a warning without braking), a partial braking phase (applying moderate braking pressure), and an emergency braking phase (applying full braking pressure). These phases are determined using a period criterion (minimum durations for each phase) and a dynamic criterion (motion equations of at least second-order time) that account for vehicle and object positions, velocities, and braking accelerations. The dynamic criterion ensures the partial braking phase contributes meaningfully to collision avoidance by factoring in its deceleration effect. The control device then outputs braking signals to the wheel brakes and warning signals to alert the driver, enabling a staged, adaptive braking response to potential collisions.
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April 13, 2018
March 15, 2022
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